Gait trajectory generation for a five link bipedal robot based on a reduced dynamical model
This work addresses gait generation for bipedal robots, which is an incremental improvement in robotics control.
The authors tackled the problem of generating stable walking trajectories for a five-link bipedal robot by reducing its dynamic model with biologically inspired assumptions and imposing a sinusoidal curve on the swing leg's ankle trajectory, resulting in an algebraic solution that ensures a stable rhythmic gait that is continuous and easy to implement.
In this paper, a simple trajectory generation method for biped walking is proposed. The dynamic model of the five link bipedal robot is first reduced using several biologically inspired assumptions. A sinusoidal curve is then imposed to the ankle of the swing leg's trajectory. The reduced model is finally obtained and solved: it is an homogeneous second order differential equations with constant coefficients. The algebraic solution obtained ensures a stable rhythmic gait for the bipedal robot. It's continuous in the defined time interval, easy to implement when the boundary conditions are well defined.